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<div class="title">baseMethod.cpp</div>  </div>
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<a href="base_method_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;base/baseMethod.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;FLY_PLAN_T CoordinateTransform::local_NED_2_local_NED_Body(copter_local_pos_att_t attpos,FLY_PLAN_T fly_plan)</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;{</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    FLY_PLAN_T tmp;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;    tmp.wps.resize(fly_plan.wps.size());</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//平移旋转矩阵</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// #pragma omp parallel for</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ;i&lt;fly_plan.wps.size();i++){</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;        WP tmppt=tf(attpos.pos_x,attpos.pos_y,-angle_add(attpos.yaw,0),PT(fly_plan.wps[i].x,fly_plan.wps[i].y,0));</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;        tmp.wps[i]=tmppt;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;        <span class="comment">// rout(&quot;tx%f ty%f&quot;,ret2(0,0),ret2(1,0));</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    }</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">        视为平面内旋转 暂时不考虑roll pitch</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">        / \   /                \  / \</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">        |s| = | cosyaw  -sinyaw|  |x|</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">        |t|   |sinyaw   cosyaw |  |y|</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">        \ /   \                /  \ /</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordflow">return</span> tmp;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;FLY_PLAN_T CoordinateTransform::local_NED_Body_2_local_NED(copter_local_pos_att_t attpos,FLY_PLAN_T fly_plan){</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    FLY_PLAN_T tmp;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    tmp.wps.resize(fly_plan.wps.size());</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// #pragma omp parallel for</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0 ;i&lt;fly_plan.wps.size();i++){</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        WP tmppt=ft(-attpos.pos_x,-attpos.pos_y,angle_add(attpos.yaw,0),PT(fly_plan.wps[i].x,fly_plan.wps[i].y,0));</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        tmp.wps[i]=tmppt;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="comment">// rout(&quot;tx%f ty%f&quot;,ret2(0,0),ret2(1,0));</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="comment">/*</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">        视为平面内旋转 暂时不考虑roll pitch</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">        / \   /                \  / \</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">        |s| = | cosyaw  -sinyaw|  |x|</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">        |t|   |sinyaw   cosyaw |  |y|</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">        \ /   \                /  \ /</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">    */</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> tmp;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keywordtype">double</span> __BASE_METHOD__::include_angle_calc(<span class="keywordtype">double</span> new_angle,<span class="keywordtype">double</span> old_angle){</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">double</span> temp=0;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    temp=old_angle-new_angle;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">if</span>(temp&gt;M_PIl) temp=temp-2*M_PIl;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">if</span>(temp&lt;-M_PIl) temp=temp+2*M_PIl;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">return</span> temp;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keywordtype">double</span> __BASE_METHOD__::angle_add(<span class="keywordtype">double</span> op_angle,<span class="keywordtype">double</span> change_val){</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    op_angle+=change_val;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">while</span>(op_angle&gt;M_PIl) op_angle=op_angle-2*M_PIl;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">while</span>(op_angle&lt;-M_PIl) op_angle=op_angle+2*M_PIl;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span> op_angle;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">double</span> __BASE_METHOD__::rect_coord_to_angle(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> y){</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> atan2(y,x);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;WPS __BASE_METHOD__::bresenham( WP start, WP end){</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">int</span> dx, dy;         <span class="comment">//横纵坐标间距</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">int</span> incr1, incr2;   <span class="comment">//P_m增量</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">int</span> d;                  <span class="comment">//P_m</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">int</span> x, y,xend, yend;<span class="comment">//直线增长的首末端点坐标</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">int</span> xdirflag, ydirflag;<span class="comment">//横纵坐标增长方向</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">int</span> cnt = 0;            <span class="comment">//直线过点的点的序号</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    dx = abs(end.x-start.x); </div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    dy = abs(end.y-start.y);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    WPS points;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">bool</span> reverse = <span class="keyword">false</span>;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span> (dy &lt;= dx) </div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {<span class="comment">//斜率k的绝对值|k|&lt;1时，在x方向进行单位步进</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    d = dx - 2*dy;  <span class="comment">//初始点P_m0值</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    incr1 = - 2 * dy;       <span class="comment">//情况（1）</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    incr2 = 2 * (dx - dy);<span class="comment">//情况（2）</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (start.x &gt; end.x)</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    {<span class="comment">//起点横坐标比终点横坐标大，xdirflag = -1（负号可以理解为增长方向与直线始终点方向相反）</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        x = end.x; y = end.y;   <span class="comment">//设置增长起点，注意这里要选择小横坐标作为起点，用于增量时好理解</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        ydirflag = (-1);                <span class="comment">//此时默认(希望)纵坐标也是start.y &gt; end.y的情况</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        xend = start.x;     <span class="comment">//设置增长终点横坐标</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        reverse=<span class="keyword">true</span>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    } <span class="keywordflow">else</span> {<span class="comment">//xdirflag = 1 ,ydirflag = 1</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        x = start.x; y = start.y;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        ydirflag = 1;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        xend = end.x;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        reverse=<span class="keyword">false</span>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    points.push_back(WP(x,y,0));</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// cnt++;</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span> (((end.y - start.y) * ydirflag) &gt; 0)</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {<span class="comment">//是预料到的情况，start.y &gt; end.y</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">while</span> (x &lt; xend)<span class="comment">//开始进行增量递增</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        {<span class="comment">//x &gt; xend，y &gt; yend，处理向右上角爬升的直线群，下图1号所示直线</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            x++;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <span class="keywordflow">if</span> (d &gt; 0)</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                d+=incr1;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="keywordflow">else</span> {</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                    y++; d+=incr2;      <span class="comment">//纵坐标向正方向增长</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            <span class="comment">// line-&gt;points[cnt].x=x;//添加新的点</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            <span class="comment">// line-&gt;points[cnt].y=y;</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            points.push_back(WP(x,y,0));</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            cnt++;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        }</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    } <span class="keywordflow">else</span> {<span class="comment">//x &gt; xend，y &lt; yend，处理向右下角降落的直线群，下图2号所示直线</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">while</span> (x &lt; xend) </div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            x++;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="keywordflow">if</span> (d &gt; 0) </div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                    d+=incr1;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            <span class="keywordflow">else</span> {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                y--; d+=incr2;  <span class="comment">//纵坐标向负方向增长</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            points.push_back(WP(x,y,0));</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            cnt++;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        }       </div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    } <span class="keywordflow">else</span> {<span class="comment">//dy &gt; dx，当斜率k的绝对值|k|&gt;1时，在y方向进行单位步进</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    d = dy - 2*dx;  <span class="comment">//P_m0初值</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    incr1 = -2*dx;  <span class="comment">//形同算法推导情况1</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    incr2 = 2 * (dy - dx);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (start.y &gt; end.y) </div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            y = end.y; x = end.x;   <span class="comment">//取最小的纵坐标作为起点</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            yend = start.y;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            xdirflag = (-1);        <span class="comment">//期望start.x &gt; end.x</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;            reverse=<span class="keyword">true</span>;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        } <span class="keywordflow">else</span> {<span class="comment">//start.y &lt; end.y</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            y = start.y; x = start.x;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            yend = end.y;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            xdirflag = 1;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            reverse=<span class="keyword">false</span>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    points.push_back(WP(x,y,0));</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    cnt++;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">if</span> (((end.x - start.x) * xdirflag) &gt; 0) </div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {<span class="comment">//x &gt; xend ，y &gt; yend，处理向右上角爬升的直线群，下图3号所示直线</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordflow">while</span> (y &lt; yend)</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            y++;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="keywordflow">if</span> (d &gt; 0) </div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                d+=incr1;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keywordflow">else</span> {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                x++; d+=incr2;      <span class="comment">//横坐标向正方向增长</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            }</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            points.push_back(WP(x,y,0));</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        } <span class="keywordflow">else</span> </div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {<span class="comment">//x &lt; xend，y &gt; yend，处理向左上角爬升的直线群，下图4号所示直线</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">while</span> (y &lt; yend)</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        {</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        y++;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">if</span> (d &gt; 0) </div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            d+=incr1;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">else</span> {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            x--; d+=incr2;  </div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        points.push_back(WP(x,y,0));</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">if</span>(reverse==<span class="keyword">true</span>){</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        std::reverse(points.begin(),points.end());</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> points;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div></div><!-- fragment --></div><!-- contents -->
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